Abstract
This paper deals with sensing of weld pool condition from reverse side, penetration control and arc length control in fixed pipe welding. In order to realize full-automatic welding of fixed pipes, it is important to control the back bead width properly. Accordingly, a method controlling the back bead width is proposed. As it is difficult to measure the back bead width directly, it is estimated by analyzing the molten pool shape and the dimensions. Furthermore, Neural Network is applied so as to estimate the relations among the shape parameters of the weld pool, welding conditions and the penetration of weld. The back bead width is controlled by controlling the welding current estimated by the output of the Neural Network. As the result of welding control experiments, the effectiveness of the proposed system in the penetration control of fixed pipes is verified.
